CN114932946A - Steer-by-wire system with fail safe function - Google Patents
Steer-by-wire system with fail safe function Download PDFInfo
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- CN114932946A CN114932946A CN202210749590.2A CN202210749590A CN114932946A CN 114932946 A CN114932946 A CN 114932946A CN 202210749590 A CN202210749590 A CN 202210749590A CN 114932946 A CN114932946 A CN 114932946A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 67
- 238000006073 displacement reaction Methods 0.000 claims abstract description 25
- 230000009471 action Effects 0.000 claims description 9
- 230000036316 preload Effects 0.000 claims 1
- 239000011247 coating layer Substances 0.000 abstract description 4
- 239000010410 layer Substances 0.000 description 14
- 238000000034 method Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000010008 shearing Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/0225—Determination of steering angle by measuring on a steering gear element, e.g. on a rack bar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0487—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting motor faults
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/30—Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a steer-by-wire system with failure protection function, comprising: the device comprises a steering wheel, a corner sensor, a first steering transmission shaft, a control unit, a failure protection device, a second steering transmission shaft, a steering motor output shaft gear, a steering rack, a displacement sensor, a steering motor, a steering wheel and a steering shaft; the invention adopts a structure form of combining the magnetostrictive block, the magnetic coating layer and the electromagnetic coil, can automatically correct when a steering motor has precision failure, and realizes precision steering of wheels; through the key connection structure of the round convex block and the round groove, the corner of the steering wheel is reliably transmitted to the steering wheel when the steering motor fails, and the failure protection function of the steer-by-wire system is realized.
Description
Technical Field
The invention belongs to the technical field of automobile steer-by-wire systems, and particularly relates to a steer-by-wire system with a failure protection function.
Background
With the development of automobile technology, intellectualization, networking and electromotion are the development directions of future automobiles, and a steer-by-wire system is a necessary actuator in the intelligent process of automobiles. Compared with the traditional steering system, the wire control technology is adopted, the complexity of system components can be further reduced, mechanical and hydraulic structures are reduced, and the modularized design of the automobile chassis is favorably realized. However, due to the requirement of safety design, the mechanical connection between the steering wheel and the steering wheel needs to be considered, and the protection measures for the steer-by-wire failure are taken, so that the steer-by-wire system has to have the failure protection function.
At present, the failure protection of the steer-by-wire system generally adopts three modes of a mechanical mode, hardware redundancy, software fault tolerance and the like. The chinese patent application No. CN200910214211.4 entitled "a steer-by-wire system failure protection device" discloses that under the action of the self-gravity of the transmission shaft or an additionally arranged reset device, the upper gear of the transmission shaft is engaged with the gears of the upper steering column and the lower steering column simultaneously, so that the upper steering column and the lower steering column are mechanically connected, steer-by-wire is changed into mechanical steering, and the steer-by-wire system failure protection is achieved, but the patent has the following disadvantages: 1) the steering can be switched from the steer-by-wire to the mechanical steering only when the motor fails, but the motor cannot be protected when precision failure occurs; 2) the gear on the transmission shaft is meshed with the gears of the upper steering column and the lower steering column through the self gravity of the transmission shaft or a reset device such as a spring, and the phenomenon that the gear cannot be normally meshed or even slips can occur. The invention has the Chinese patent application number of CN202010815446.5, and is named as a wire-controlled steering system, a control method and an automobile, and discloses a failure protection method for realizing hardware redundancy by adopting two processors to carry out mutual verification.
Disclosure of Invention
In view of the defects of the prior art, the invention aims to provide a steer-by-wire system with a failure protection function, so as to solve the problem that the steering of an automobile is out of control because wheels are continuously kept to steer because corresponding measures cannot be automatically taken when a steering motor in the conventional steer-by-wire system fails; the invention not only can realize the failure protection function of the line control system, but also can automatically adopt corresponding correction measures when the steering motor has precision failure so as to ensure that the wheels keep precision steering. According to the invention, the current of the electromagnetic coil is controlled, and the magnetic attraction between the magnetic coating layer and the electromagnetic coil is adjusted, so that the second steering transmission shaft rotates by a certain angle under the influence of the rotation of the first steering transmission shaft, the steering error caused by the precision fault of the steering motor is corrected, and the precision steering of the wheel is realized; the control unit is used for supplying current to the electromagnetic coil to generate magnetic fields with different strengths, the length of the magnetostrictive block is changed, the circular convex block is further inserted into the groove in the groove block, and shearing force is generated to ensure that the first steering transmission shaft is mechanically connected with the second steering transmission shaft, so that the torque of a steering wheel can be transmitted to a steering wheel when a steering motor in the steer-by-wire system fails, and the normal steering of the wheel is realized.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the invention relates to a steer-by-wire system with a failure protection function, comprising: the device comprises a steering wheel, a corner sensor, a first steering transmission shaft, a control unit, a failure protection device, a second steering transmission shaft, a steering motor output shaft gear, a steering rack, a displacement sensor, a steering motor, a steering wheel and a steering shaft;
the upper end of the first steering transmission shaft is fixedly connected with a steering wheel, the lower end of the first steering transmission shaft is connected with a failure protection device, and a corner sensor is arranged on the first steering transmission shaft and used for detecting a corner signal of the steering wheel; the first steering transmission shaft is used for transmitting the rotation angle of the steering wheel to the failure protection device; one end of the second steering transmission shaft is connected with the failure protection device, and the other end of the second steering transmission shaft is fixedly connected with an output shaft gear of the steering motor; a certain distance is arranged between the first steering transmission shaft and the second steering transmission shaft, the radial lengths are consistent, and the axes of the first steering transmission shaft and the second steering transmission shaft are overlapped when the steering transmission shafts are installed; the fail safe apparatus includes: the coil fixing support, the first spring, the second spring, the electromagnetic coil, the first spring chamber, the second spring chamber, the magnetostrictive block, the magnetic covering layer, the groove block, the circular bump upper baffle and the circular bump lower baffle; the coil fixing support is arranged at the lower end of the first steering transmission shaft, and the electromagnetic coil is fixedly arranged on the coil fixing support; the lower end of the coil fixing support is provided with a first spring chamber and a second spring chamber which are respectively and fixedly arranged on two sides of the coil fixing support; the first spring chamber and the second spring chamber are sealed on three sides, and a circular bump upper baffle and a circular bump lower baffle are arranged on one side close to the axis; the two circular bump upper baffles are fixedly connected to the electromagnetic coil fixing support, and the two circular bump lower baffles are fixedly connected to the lower end faces of the first spring chamber and the second spring chamber respectively; one end of the first spring is fixedly arranged in the first spring chamber, and the other end of the first spring is fixedly connected with the circular lug; the distance between the upper baffle plate and the lower baffle plate of the circular bump is equal to the maximum diameter of the circular bump; one end of a second spring is fixedly arranged in the second spring chamber, the other end of the second spring is fixedly connected with a circular bump, and the distance between an upper baffle plate and a lower baffle plate of the circular bump is equal to the maximum diameter of the circular bump; the magnetostrictive block is fixedly connected to the upper end of the second steering transmission shaft, the upper end of the magnetostrictive block is fixedly connected with a groove block, two sides of the groove block are provided with circular grooves, the upper end of the groove block is fixedly connected with a magnetic covering layer, and gaps are formed among the magnetic covering layer, the first spring chamber and the second spring chamber;
the output shaft gear of the steering motor is meshed with the steering rack, and the lower end of the output shaft gear is fixedly connected with the steering motor; a displacement sensor is arranged on the steering rack and used for detecting a steering rack displacement signal; one end of the steering shaft is connected with the steering rack, and the other end of the steering shaft is connected with the steering wheel;
the control unit is respectively connected with the corner sensor and the displacement sensor, collects steering wheel corner signals through the corner sensor to judge the steering intention of a driver, and collects steering rack displacement signals through the displacement sensor to judge the steering feedback of actual wheels; the control unit is also respectively connected with the failure protection device and the steering motor and sends control signals to the steering motor and the electromagnetic coils in the failure protection device.
Furthermore, the size of the circular bump is selected to be matched with the corresponding circular groove.
Further, the length of the diameter of the groove block is equal to the distance between the first spring chamber and the second spring chamber.
Furthermore, the size of the upper baffle plate of the circular convex block is consistent with the size of the upper edge of the circular groove on the same side, and the size of the lower baffle plate of the circular convex block is consistent with the size of the lower edge of the circular groove on the same side.
Furthermore, the first spring and the second spring both have certain pretightening force.
Further, the distance between the circular bump upper baffle and the circular bump lower baffle is equal to the maximum diameter of the circular bump.
Furthermore, the magnetostrictive blocks stretch along the vertical direction under the action of a magnetic field, and the circular convex blocks are inserted into the corresponding circular grooves on the same side by controlling the current of the electromagnetic coil.
Furthermore, the polarity of the magnetic covering layer is opposite to that of a magnetic field generated by the electromagnetic coil, and the magnetic attraction force of the magnetic covering layer and the magnetic field is coordinated by controlling the current of the electromagnetic coil, so that the precision steering is obtained.
The invention has the beneficial effects that:
1) the principle that the electromagnetic coil is electrified to generate a magnetic field, and the magnetic covering layer and the electrified electromagnetic coil generate magnetic attraction force is adopted, so that the second steering transmission shaft rotates for a certain angle under the action of the magnetic attraction force, and the steering error caused by the precision fault of the steering motor is corrected.
2) The invention adopts the structural form of combining the magnetostrictive blocks, the magnetic covering layer and the electromagnetic coil, and the control unit is used for introducing proper current to the electromagnetic coil and adjusting the length of the magnetostrictive blocks and the magnetic attraction between the magnetic covering layer and the electromagnetic coil, so that the precision fault of a steering motor in the system can be automatically corrected, and the precision steering of the wheel can be realized.
3) The steering wheel adopts a key connection structure of the circular convex block and the circular groove, so that the conventional mechanical steering and the steer-by-wire are combined, the rotation angle of the steering wheel is reliably transmitted to the steering wheel when the steering motor fails, and the failure protection function is realized.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic diagram of the connection relationship of the fail safe apparatus of the present invention;
in the figure: 1. a steering wheel; 2. a rotation angle sensor; 3. a first steering transmission shaft; 4. a control unit; 5. a fail safe device; 6. a second steering drive shaft; 7. a steering motor output shaft gear; 8. a displacement sensor; 9. a steering rack; 10. a steering motor; 11. a steering shaft; 12. a steering wheel; 13. a coil fixing bracket; 14. a first spring; 15. a first spring chamber; 16. a circular groove; 17. a magnetostrictive block; 18. an electromagnetic coil; 19. a second spring; 20. a second spring chamber; 21. the upper edge of the circular groove; 22. the lower edge of the circular groove; 23. a circular bump; 24. covering the magnetic layer; 25. a groove block; 26. the round bump is provided with a baffle plate; 27. round bump lower baffle.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.
Referring to fig. 1 and 2, a steer-by-wire system with a fail-safe function according to the present invention includes: the device comprises a steering wheel 1, a rotation angle sensor 2, a first steering transmission shaft 3, a control unit 4, a failure protection device 5, a second steering transmission shaft 6, a steering motor output shaft gear 7, a displacement sensor 8, a steering rack 9, a steering motor 10, a steering shaft 11, a steering wheel 12, a coil fixing support 13, a first spring 14, a first spring chamber 15, a circular groove 16, a magnetostrictive block 17, an electromagnetic coil 18, a second spring 19, a second spring chamber 20, a circular groove upper edge 21, a circular groove lower edge 22, a circular bump 23, a magnetic covering layer 24, a groove block 25, a circular bump upper baffle 26 and a circular bump lower baffle 27;
the upper end of the first steering transmission shaft 3 is fixedly connected with a steering wheel 1, the lower end of the first steering transmission shaft is connected with a failure protection device 5, a corner sensor 2 is arranged on the first steering transmission shaft 3 and used for detecting a corner signal of the steering wheel 1, and the first steering transmission shaft 3 is used for transmitting the corner of the steering wheel 1 to the failure protection device 5; one end of the second steering transmission shaft 6 is connected with the failure protection device 5, and the other end of the second steering transmission shaft is connected with an output shaft gear 7 of the steering motor; the failure protection device 5 structurally comprises: the steering mechanism comprises a first steering transmission shaft 3, a second steering transmission shaft 6, a coil fixing support 13, a first spring 14, a second spring 19, an electromagnetic coil 18, a first spring chamber 15, a second spring chamber 20, a magnetostrictive block 17, a magnetic covering layer 24, a groove block 25, a circular groove 16, a circular bump 23, a circular bump upper baffle 26 and a circular bump lower baffle 27, wherein a certain distance is arranged between the first steering transmission shaft 3 and the second steering transmission shaft 6, the radial lengths of the first steering transmission shaft and the second steering transmission shaft are consistent, the axes of the two steering transmission shafts are superposed during installation, the coil fixing support 13 is arranged at the lower end of the first steering transmission shaft 3, the electromagnetic coil 18 is fixedly arranged on the coil fixing support 13, the lower end of the coil fixing support 13 is provided with a first spring chamber 15 and a second spring chamber 20, the first spring chamber 15 and the second spring chamber 20 are respectively and fixedly arranged at two sides of the coil fixing support 13, the first spring chamber 15 and the second spring chamber 20 are sealed on three sides, one side close to the axis is provided with an upper baffle and a lower baffle of a circular lug, the upper baffle 26 of the circular lug is respectively and fixedly connected with the coil fixing bracket 13, the lower baffle 27 of the circular lug is respectively and fixedly connected with the lower end faces of the first spring chamber and the second spring chamber, one end of the first spring 14 is fixedly arranged in the first spring chamber 15, the other end is fixedly connected with the circular lug 23, the distance between the upper baffle and the lower baffle of the circular lug is just equal to the maximum diameter of the circular lug 23, similarly, one end of the second spring 19 is fixedly arranged in the second spring chamber 20, the other end is fixedly connected with the circular lug 23, and the distance between the upper baffle and the lower baffle of the circular lug is just equal to the maximum diameter of the circular lug 23; the upper end of the second steering transmission shaft 6 is fixedly connected with a magnetostrictive block 17, the upper end of the magnetostrictive block 17 is fixedly connected with a groove block 25, two sides of the groove block 25 are provided with circular grooves 16, the upper end of the groove block 25 is fixedly connected with a magnetic covering layer 24, and a gap is arranged between the magnetic covering layer 24 and the spring chamber.
The output shaft gear 7 of the steering motor is meshed with a steering rack 9, the lower end of the output shaft gear is fixedly connected with a steering motor 10, the upper end of the output shaft gear is fixedly connected with a second steering transmission shaft 6, and a displacement sensor 8 is arranged on the steering rack 9 and used for detecting a displacement signal of the steering rack 9; one end of the steering shaft 11 is connected with the steering rack 9, and the other end is connected with the steering wheel 12.
The control unit (ECU)4 is respectively connected with the corner sensor 2 and the shift sensor 8 through leads, collects corner signals of the steering wheel 1 through the corner sensor 2 to judge the steering intention of a driver, and collects displacement signals of the steering rack 9 through the shift sensor 8 to judge the steering feedback of actual wheels; the control device is respectively connected with the failure protection device 5 and the steering motor 10 through leads, and sends control signals to the steering motor 10 and the electromagnetic coil 18.
The steer-by-wire system with the failure protection function provided by the invention is divided into three working modes, namely normal working, precision failure of a steering motor and failure of the steering motor.
Before working, the steering angle sensor 2 monitors steering angle signals of the steering wheel 1 and the first steering transmission shaft 3 in real time to judge the steering intention of a driver, a displacement sensor 8 acquires displacement signals of a steering rack 9, the displacement signals are used for the control unit 4 to judge actual wheel steering feedback, and the control unit 4 judges whether a steering motor fails or not by comparing the steering intention of the driver with the actual wheel steering feedback; the control unit 4 controls the electromagnetic coil 18 to be free of current, the round bump 23 is located between the round bump upper baffle 26 and the round bump lower baffle 27 under the pre-tightening force action of the first spring 14 and the second spring 19, and the magnetostrictive block 17 is located at the initial position.
And (3) a normal working mode: when a driver rotates a steering wheel 1 to steer, a steering angle sensor 2 detects a steering wheel steering angle signal and transmits the steering angle signal to a control unit 4, the control unit 4 judges the steering intention of the driver through calculation and controls a steering motor 10 to rotate, the steering motor 10 drives an output shaft gear 7 of the steering motor to rotate, a steering rack 9 is further driven to move, the steering rack 9 drives a steering shaft 11 to move, and a steering wheel 12 achieves normal steering.
The steering motor has a precision fault working mode: when a driver rotates the steering wheel 1 to steer, the steering angle sensor 2 detects a steering angle signal of the steering wheel 1 and transmits the steering angle signal to the control unit 4, the control unit 4 judges the steering intention of the driver through calculation and controls the steering motor 10 to rotate, the steering motor 10 drives the steering motor output shaft gear 7 to rotate, and then the steering rack 9 is driven to move, the steering rack 9 drives the steering shaft 11 to move, and the steering wheel 12 realizes steering. Meanwhile, a displacement sensor 8 collects a displacement signal of a steering rack 9 in real time and is used for determining actual wheel steering feedback, a control unit 4 judges that the steering motor 10 has a precision fault by comparing the steering intention of a driver with the actual wheel steering feedback, at the moment, the control unit 4 supplies a proper amount of current to an electromagnetic coil 18, the electromagnetic coil 18 generates a magnetic field, a magnetic coating layer 24 fixed at the upper end of a groove block 25 generates magnetic attraction with the electromagnetic coil 18 under the action of the magnetic field, a magnetostrictive block 17 also extends upwards for a certain distance under the action of the magnetic field to further enhance the magnetic attraction, a second steering transmission shaft 6 rotates for a certain angle under the influence of the rotation of a steering wheel 1 to drive an output shaft gear 7 of the steering motor to rotate, the steering rack 9 moves to correct the rotation angle of the steering wheel 12, the control unit 4 adjusts the length of the magnetostrictive block 17 and the magnetic attraction generated by the magnetic coating layer 24 and the electromagnetic coil 18 by controlling the magnitude of the current supplied to the electromagnetic coil 18, the steering error caused by the precision fault of the steering motor 10 can be automatically corrected, and the precision steering of the steering wheel 12 can be realized.
The failure working mode of the steering motor is as follows: when a driver rotates a steering wheel 1 to steer, a steering angle sensor 2 detects a steering angle signal of the steering wheel 1 and transmits the steering angle signal to a control unit 4, the control unit 4 judges the steering intention of the driver through calculation and controls a steering motor 10 to rotate, meanwhile, a displacement sensor 8 collects a displacement signal of a steering rack 9 in real time and is used for determining actual wheel steering feedback, the control unit 4 judges that the steering motor 10 fails through comparing the steering intention of the driver with the actual wheel steering feedback, at the moment, the control unit 4 supplies a proper amount of current to an electromagnetic coil 18, the electromagnetic coil 18 generates a magnetic field, a magnetostrictive block 17 extends upwards for a certain distance under the action of the magnetic field, a groove block 25 overcomes the pre-tightening force of a first spring 14 and a second spring 19 and pushes a round lug 23 to move towards two sides until the round lug 23 is just inserted into a round groove 16 on the same side, form key connection structure, it is very little to cover simultaneously between magnetic layer 24 and the solenoid 18, magnetic attraction between the two is very big, through the combined action of key structure's shearing force and magnetic attraction, make groove piece 25 and circular lug 23 link as an organic whole, the corner of steering wheel 1 is through first steering transmission shaft 3, coil fixed bolster 13, first spring 14, second spring 19, circular lug 23, groove piece 25, magnetostrictive block 17, second steering transmission shaft 6, steering motor output shaft gear 7, steering rack 9, steering spindle 11, transmit steering wheel 12 at last, the corner of steering wheel 1 can be reliable transmits steering wheel 12 and turns to promptly, accomplish the fail safe function.
In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (8)
1. A steer-by-wire system having a fail-safe function, comprising: the device comprises a steering wheel, a corner sensor, a first steering transmission shaft, a control unit, a failure protection device, a second steering transmission shaft, a steering motor output shaft gear, a steering rack, a displacement sensor, a steering motor, a steering wheel and a steering shaft;
the upper end of the first steering transmission shaft is fixedly connected with a steering wheel, the lower end of the first steering transmission shaft is connected with a failure protection device, and a corner sensor is arranged on the first steering transmission shaft and used for detecting a corner signal of the steering wheel; the first steering transmission shaft is used for transmitting the rotation angle of the steering wheel to the failure protection device; one end of the second steering transmission shaft is connected with the failure protection device, and the other end of the second steering transmission shaft is fixedly connected with an output shaft gear of the steering motor; a certain distance is reserved between the first steering transmission shaft and the second steering transmission shaft, the radial lengths of the first steering transmission shaft and the second steering transmission shaft are consistent, and the axes of the first steering transmission shaft and the second steering transmission shaft are overlapped when the first steering transmission shaft and the second steering transmission shaft are installed; the fail safe apparatus includes: the coil fixing support, the first spring, the second spring, the electromagnetic coil, the first spring chamber, the second spring chamber, the magnetostrictive block, the magnetic covering layer, the groove block, the round bump upper baffle and the round bump lower baffle are arranged on the coil fixing support; the coil fixing support is arranged at the lower end of the first steering transmission shaft, and the electromagnetic coil is fixedly arranged on the coil fixing support; the lower end of the coil fixing support is provided with a first spring chamber and a second spring chamber which are respectively and fixedly arranged on two sides of the coil fixing support; the first spring chamber and the second spring chamber are sealed on three sides, and a circular lug upper baffle and a circular lug lower baffle are arranged on one side close to the axis; the two circular bump upper baffles are fixedly connected to the electromagnetic coil fixing support, and the two circular bump lower baffles are fixedly connected to the lower end faces of the first spring chamber and the second spring chamber respectively; one end of the first spring is fixedly arranged in the first spring chamber, and the other end of the first spring is fixedly connected with the circular lug; the distance between the upper baffle plate and the lower baffle plate of the circular bump is equal to the maximum diameter of the circular bump; one end of a second spring is fixedly arranged in the second spring chamber, the other end of the second spring is fixedly connected with a circular bump, and the distance between an upper baffle plate and a lower baffle plate of the circular bump is equal to the maximum diameter of the circular bump; the magnetostrictive block is fixedly connected to the upper end of the second steering transmission shaft, the upper end of the magnetostrictive block is fixedly connected with a groove block, two sides of the groove block are provided with circular grooves, the upper end of the groove block is fixedly connected with a magnetic covering layer, and gaps are formed among the magnetic covering layer, the first spring chamber and the second spring chamber;
the output shaft gear of the steering motor is meshed with the steering rack, and the lower end of the output shaft gear is fixedly connected with the steering motor; a displacement sensor is arranged on the steering rack and used for detecting a steering rack displacement signal; one end of the steering shaft is connected with the steering rack, and the other end of the steering shaft is connected with the steering wheel;
the control unit is respectively connected with the corner sensor and the displacement sensor, collects a steering wheel corner signal through the corner sensor to judge the steering intention of a driver, and collects a steering rack displacement signal through the displacement sensor to judge the steering feedback of actual wheels; the control unit is also connected with the failure protection device and the steering motor respectively and sends control signals to the steering motor and electromagnetic coils in the failure protection device.
2. The fail-safe steer-by-wire system of claim 1, wherein the size of said rounded protrusion is selected to match its corresponding rounded recess.
3. The fail-safe steer-by-wire system of claim 1, wherein the groove block has a diameter length equal to a distance between the first spring chamber and the second spring chamber.
4. The steer-by-wire system with fail-safe function according to claim 1, wherein the size of the upper baffle of the circular bump is the same as the size of the upper edge of the circular groove on the same side, and the size of the lower baffle of the circular bump is the same as the size of the lower edge of the circular groove on the same side.
5. The fail-safe steer-by-wire system of claim 1, wherein the first and second springs each have a pre-load force.
6. The fail-safe steer-by-wire system according to claim 1, wherein the distance between the circular-bump upper stop and the circular-bump lower stop is equal to the circular-bump maximum diameter.
7. The steer-by-wire system with fail-safe function according to claim 1, wherein the magnetostrictive block stretches in the vertical direction under the action of the magnetic field, and the circular protrusion is inserted into the corresponding circular groove on the same side by controlling the current of the electromagnetic coil.
8. The steer-by-wire system with failure protection function according to claim 1, wherein the polarity of the magnetic covering layer is opposite to the polarity of the magnetic field generated by the electromagnetic coil, and the magnetic attraction force of the electromagnetic coil and the magnetic field is coordinated by controlling the current of the electromagnetic coil, so that the precision steering is obtained.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210749590.2A CN114932946B (en) | 2022-06-28 | 2022-06-28 | Drive-by-wire steering system with failure protection function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210749590.2A CN114932946B (en) | 2022-06-28 | 2022-06-28 | Drive-by-wire steering system with failure protection function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114932946A true CN114932946A (en) | 2022-08-23 |
| CN114932946B CN114932946B (en) | 2023-12-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210749590.2A Active CN114932946B (en) | 2022-06-28 | 2022-06-28 | Drive-by-wire steering system with failure protection function |
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| CN (1) | CN114932946B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112373439A (en) * | 2020-11-17 | 2021-02-19 | 江苏科技大学 | Automobile rollover prevention protection device and protection method thereof |
| CN113644782A (en) * | 2021-08-30 | 2021-11-12 | 卢新星 | Electric push rod structure and application control method thereof |
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| JP2014238363A (en) * | 2013-06-10 | 2014-12-18 | 日立金属株式会社 | Torque sensor |
| CN108216349A (en) * | 2017-12-11 | 2018-06-29 | 浙江梵隆汽车部件有限公司 | A kind of new-energy automobile multi-functional steering wheel and its operating method |
| CN111559423A (en) * | 2020-04-16 | 2020-08-21 | 南京金龙新能源汽车研究院有限公司 | Wire-controlled steering system and control strategy thereof |
| CN112373439A (en) * | 2020-11-17 | 2021-02-19 | 江苏科技大学 | Automobile rollover prevention protection device and protection method thereof |
| CN113644782A (en) * | 2021-08-30 | 2021-11-12 | 卢新星 | Electric push rod structure and application control method thereof |
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| CN114932946B (en) | 2023-12-19 |
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